Despite the recent successes of MARL, learning
effective multi-agent coordination policies for complex multi-agent systems remains challenging. One key challenge is the off-beat actions, i.e., all actions have pre-set execution durationsIn the RL literature [1]}, [2]}, action execution durations are called delays of actions. In this paper, we use the term execution durations, which is self-consistent with off-beat actions defined in Sec. . and during the execution durations, the environment changes are influenced by, but not synchronised with, action execution (an illustrative scenario is shown in Fig. REF ). However, Dec-POMDP [3]}, which underpins many CTDE-based MARL methods, hinges on the assumption that actions are executed momentarily after inference, leading to catastrophic failure for centralized training on various off-beat multi-agent scenarios (OBMAS). To fill this gap,
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